/*=+--+=#=+--     Unmanned Aerial System Management Software      --+=#=+--+=#*\
|          Copyright (C) 2011 Regents of the University of Colorado.           |
|                             All Rights Reserved.                             |

     This program is free software: you can redistribute it and/or modify
     it under the terms of the GNU General Public License version 2 as
     published by the Free Software Foundation.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program.  If not, see <http://www.gnu.org/licenses/>.

            Jack Elston                       Cory Dixon                        
|           elstonj@colorado.edu              dixonc@colorado.edu              |
|                                                                              |
\*=+--+=#=+--                 --+=#=+--+=#=+--                    --+=#=+--+=#*/

/*!
  \file template.h
	\brief header file for template

                    \author Jack Elston
             $Date: 2006/10/25 13:34:45 $
*/

#ifndef __STACK_H
#define __STACK_H

#include "threadedPipe.h"

#define STACKING_LOOP_PERIOD 4.0  //s

class StackingController : public ThreadedPipe
{
private:
  ClientList formation_vehicles;

  TimeStamp last_control_loop;
  float last_track;

  void followLeader();

public:
	StackingController(String name);
	~StackingController() {}
					 
	void update();
};

#endif
